In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows
Use this ISO to install a fresh Ubuntu OS on your development computer. Afterwards, you can proceed to install ROS as explained in the next section.
Set up ROS packages sources
In order to install the required ROS packages for running TIAGo's simulation first, as explained in ROS Noetic installation, it is required to include packages.ros.org in the debian sources:
sudo apt update sudo apt install lsb-release # if you haven't already installed lsb-release sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
The set up the required keys to access the debian sources:
sudo apt install curl gnupg # if you haven't already installed curl or gnupg curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
ROS packages installation
install use the following instruction
sudo apt-get update sudo apt-get install git wget ipython3 python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3 ros-noetic-actionlib-tools ros-noetic-moveit-commander
Append the following command to ~/.bashrc to allow any console to use the catkin commands
Currently source-based installation is provided.
First of all, open a terminal and create an empty workspace:
mkdir ~/tiago_public_ws cd ~/tiago_public_ws
Then run the following instruction in order to download tiago_public-noetic.rosinstall and to clone all the required repositories within the workspace:
wget https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/noetic-devel/tiago_public-noetic.rosinstall rosinstall src /opt/ros/noetic tiago_public-noetic.rosinstall
Then run this command to make sure that all dependencies are installed.
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "urdf_test omni_drive_controller orocos_kdl pal_filters libgazebo9-dev pal_usb_utils speed_limit_node camera_calibration_files pal_moveit_plugins pal_startup_msgs pal_local_joint_control pal_pcl_points_throttle_and_filter current_limit_controller hokuyo_node dynamixel_cpp pal_moveit_capabilities pal_pcl dynamic_footprint gravity_compensation_controller pal-orbbec-openni2 pal_loc_measure pal_map_manager ydlidar_ros_driver"
Then, you may proceed building the workspace:
source /opt/ros/noetic/setup.bash catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
Once you compiled all packages and source the environment (source ~/tiago_public_ws/devel/setup.bash) and it's all ready to go.